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Added parameter "RGBD/OptimizeRobust" (default true) to use Vertigo robust graph optimization (only for g2o and GTSAM optimization strategies). Added GTSAM support.

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matlabbe
2015-09-02 17:51:43 -04:00
parent a2b9c9f9a0
commit 7a721105ae
40 changed files with 2125 additions and 158 deletions
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41
guilib/src/ui/preferencesDialog.ui
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@@ -64,8 +64,8 @@
<rect>
<x>0</x>
<y>-392</y>
<width>755</width>
<height>1591</height>
<width>760</width>
<height>1570</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
<enum>QFrame::Raised</enum>
</property>
<property name="currentIndex">
<number>3</number>
<number>19</number>
</property>
<widget class="QWidget" name="page_22">
<layout class="QVBoxLayout" name="verticalLayout_29">
@@ -6553,6 +6553,11 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
<string>g2o</string>
</property>
</item>
<item>
<property name="text">
<string>GTSAM</string>
</property>
</item>
</widget>
</item>
<item row="1" column="0">
@@ -6575,14 +6580,14 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="6" column="0">
<item row="7" column="0">
<widget class="QCheckBox" name="graphOptimization_fromGraphEnd">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="6" column="1">
<item row="7" column="1">
<widget class="QLabel" name="label_151">
<property name="text">
<string>Optimize graph from the newest node.</string>
@@ -6595,7 +6600,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="1">
<item row="6" column="1">
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@@ -6632,7 +6637,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="8" column="1">
<item row="9" column="1">
<widget class="QLabel" name="label_183">
<property name="text">
<string>-If false, the graph is optimized from the oldest node of the current graph. It can be useful to preserve the map referential from the oldest node. An odometry correction between frames /map to /odom is computed. Warning: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).</string>
@@ -6645,7 +6650,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLabel" name="label_211">
<property name="text">
<string>-If true, there is no odometry correction computed. All previous poses in the map are corrected instead, not the last one (which corresponds to latest odometry value). So, the transform between frames /map to /odom will be always Identity even on loop closures.</string>
@@ -6710,6 +6715,26 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="graphOptimization_robust">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_258">
<property name="text">
<string>Robust graph optimization using Vertigo (only for g2o and GTSAM optimization strategies). This approach can filter wrong loop closure detections.</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="textInteractionFlags">
<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>